import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():

    pkg_path=get_package_share_directory('autopatrol_robot1')
    param_path=pkg_path+'/config/patrol_param.yaml'
    action_patrol_node=launch_ros.actions.Node(
        package='autopatrol_robot1',
        executable='patrol_node',
        output='screen',
        parameters=[param_path],
    )
    action_speaker_node=launch_ros.actions.Node(
        package='autopatrol_robot1',
        executable='speaker',
        output='screen',
    )

    return launch.LaunchDescription(
        [
            action_patrol_node,
            action_speaker_node,
        ]
    )